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Accurate values of material parameters of human tissue are key elements in a surgical robot system using an organ deformation model. However, it is generally difficult to determine the values of the material parameters of human tissue to be input into the model, because the individual differences of these material properties make them inherently uncertain. In this work, we discuss a method for identifying...
It is generally difficult to determine the material values of human tissue to input into an organ deformation model, because the material properties of human tissues are inherently uncertain because of their individual differences. In our work, we developed a promising approach that allows identification of the material parameters of the organ model by using information obtained during surgery. The...
Organs have many vulnerable tissues such as blood vessels and nerves which must never be damaged. This paper shows a control method which prevents the overload of vulnerable tissues. Firstly, the force control method, which prevents overload, is shown. Secondly, a FEM-based stress observer using the organ model is described. Finally, a control method incorporating the first and second steps, and which...
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